Tsino Dynatron CoolDrive Series, Руководство пользователя

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Running
110
Static detection method: Applicable to the situation where the motor has been installed on the mechanical device (for example,
installed on the robot body). No need to rotate the motor shaft during the test.
Associated parameters 5.2.2
The parameters associated with this function are shown in the following table:
Index
Sub-ind
ex
Name Unit Setting range
Default
value
effective Period
0x2050 0
Phase Angle of Motor
Magnetic Pole
0.001rad 0~6284 3140 Restart Y
Index
Sub-ind
ex
Name Unit Setting range
Default
value
effective Period
0x21F1 0
Magnetic pole phase
angle detection torque
‰ 1~3000 1000 Restart Y
0x21F2 0
Magnetical Pole
Detecting Torque Up
Time
ms 1~1000 100 Restart Y
0x21F3 0
Magnetical Pole
Detecting Move
Threshold
inc 1~65535 5 Restart Y
0x21F4 0
Magnetical Pole
Detecting Stable Time
ms 1~65535 500 Restart Y
The setting unit of the magnetic pole phase angle detection torque is one thousandth of the magnetic pole phase angle
detection torque.
The larger the judgment threshold of the magnetical Pole Detecting Move Threshold, the larger the motor displacement is
during the detection.
The parameters in this table apply only to motors with incremental encoders.
Index
Sub-ind
ex
Name Unit Setting range
Default
value
effective Period
0x21EF 0
Magnetical Pole Angle
Detection Setting
- 0~0x00010103 0 Restart Y
Byte0: Detect method selection
0x00- Normal method;
0x01- Statical method;
0x02- Hall recovery method.
Hall signal detection under normal method includes offset phase and direction of hall signal. When the Hall signal is
properly detected, the magnetic polar phase angle can be detected using the Hall recovery method.